diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 9dad842a49..50603f4cf1 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -103,6 +103,7 @@
   # define HELI_YAW_FF					0  
   # define RC_FAST_SPEED 				125
   # define STABILIZE_THROTTLE			THROTTLE_MANUAL
+  # define MPU6K_FILTER                 10
 #endif
 
 
@@ -118,6 +119,9 @@
 #ifndef CONFIG_IMU_TYPE
  # define CONFIG_IMU_TYPE CONFIG_IMU_OILPAN
 #endif
+#ifndef MPU6K_FILTER
+ # define MPU6K_FILTER MPU6K_DEFAULT_FILTER
+#endif
 
 //////////////////////////////////////////////////////////////////////////////
 // ADC Enable - used to eliminate for systems which don't have ADC.